Spraying Systems TeeJet TECHNOLOGIES BoomPilot User manual

BOOMPILOT®
INSTALLATION MANUAL
Automatic boom section control installation manual
for use with Berthoud DP Tronic w/Matrix® Pro

Copyrights
© 2013 TeeJet Technologies. All rights reserved. No part of this document or the computer programs described in it may be reproduced,
copied, photocopied, translated, or reduced in any form or by any means, electronic or machine readable, recording or otherwise, without
prior written consent from TeeJet Technologies.
Trademarks
Unless otherwise noted, all other brand or product names are trademarks or registered trademarks of their respective companies or
organizations.
Limitation of liability
TEEJET TECHNOLOGIES PROVIDES THIS MATERIAL “AS IS” WITHOUT WARRANTY OF ANY KIND, EITHER EXPRESSED OR
IMPLIED. NO COPYRIGHT LIABILITY OR PATENT IS ASSUMED. IN NO EVENT SHALL TEEJET TECHNOLOGIES BE LIABLE FOR ANY
LOSS OF BUSINESS, LOSS OF PROFIT, LOSS OF USE OR DATA, INTERRUPTION OF BUSINESS, OR FOR INDIRECT, SPECIAL,
INCIDENTAL, OR CONSEQUENTIAL DAMAGES OF ANY KIND, EVEN IF TEEJET TECHNOLOGIES HAS BEEN ADVISED OF SUCH
DAMAGES ARISING FROM TEEJET TECHNOLOGIES SOFTWARE.
Safety information
TeeJet Technologies is not responsible for damage or physical harm caused by failure to adhere to the following safety
requirements.
As the operator of the vehicle, you are responsible for its safe operation.
The BoomPilot is not designed to replace the vehicle’s operator.
Do not leave a vehicle while the BoomPilot is engaged.
Be sure that the area around the vehicle is clear of people and obstacles before and during engagement.
The BoomPilot is designed to support and improve efciency while working in the eld. The driver has full responsibility for the quality and
work related results.
Disengage BoomPilot before operating on public roads or when not in use to prevent loss of vehicle control.

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020-045 R2 EN
BoomPilot®
Table of contents
REQUIRED COMPONENTS 2
PRINCIPLE OF OPERATION 5
INSTALLATION 5
1. LOCATE THE CONNECTION POINT FOR THE SDM HARNESS ......................................................................................................... 5
2. MOUNT & CONNECT SDM............................................................................................................................................................................ 5
3. DISCONNECT & RECONNECT HARNESSES & CABLES ....................................................................................................................... 6
4. CONNECT POWER/CAN/DATA CABLE TO BOOMPILOT HARNESS ............................................................................................... 7
5. INSTALLING THE INTERFACE ....................................................................................................................................................................... 7
Factory installed ABSC Berthoud interface, diagrams and modications. ...................................................................8
Battery Cable (Option) .................................................................................................................................................... 13
Valves connection............................................................................................................................................................ 13
Driving wires connection to relay box ..........................................................................................................................................14
Valves connections to relay box..................................................................................................................................... 14
6. RECOMMENDED ELECTRONICS INSTALLATION ...............................................................................................................................15
7. COMPLETE ELECTRONIC INSTALLATION .............................................................................................................................................15
SYSTEM CHECK 15
Check AUTOMATIC mode:..........................................................................................................................................................15
Berthoud DP Tronic:.............................................................................................................................................................15
Matrix Pro:............................................................................................................................................................................15
Check MANUAL mode:................................................................................................................................................................15
Berthoud DP Tronic:.............................................................................................................................................................15
Matrix Pro:............................................................................................................................................................................15

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BoomPilot®
REQUIRED COMPONENTS
Unpack the installation kit and identify the required parts for your installation.
Item Part Number Description Quantity
A 90-xxxxx* Matrix Pro guidance controller kit ....................................................................................................................................1
B 45-05845 Power/CAN/data cable ....................................................................................................................................................1
C 198-413 BoomPilot harness (CANBUS & Power)..........................................................................................................................1
D 48-XXXXX Power cable with 3P COBO connector............................................................................................................................1
E 990-888* BoomPilot cable , 990-888 (Max. 15 Sections + Master for New Sa or Pneumatic Valves) ...........................................1
E 990-889* BoomPilot cable , 990-889 (Max. 15 Sections + Master for Old Sa or ARAG Valves)....................................................1
F 78-05072 BoomPilot section driver module (SDM)..........................................................................................................................1
G 020-045 Installation manual, Berthoud DP Tronic..........................................................................................................................1
H 98-05243 Matrix Pro BoomPilot setup guide ...................................................................................................................................1
*Part number is dependent on kit contents
Item Part # Description Illustration
A
Part
number is
dependent
on kit
contents
Matrix Pro guidance controller kit Matrix Pro 570G Matrix Pro 840G
B 45-05845 Power/CAN/data cable
POWER IN
CAN
RS-232
Power/DATA
45-05626
C 198-413 BoomPilot harness (CANBUS & Power)
B
B
A
A
A B
D 48-XXXXX Power cable with 3P COBO connector
BA
E 990-888*
BoomPilot cable, 990-888 (Max. 15
Sections + Master for New Sa or
Pneumatic Valves)

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020-045 R2 EN
BoomPilot®
Item Part # Description Illustration
E 990-889*
BoomPilot cable, 990-889 (Max. 15
Sections + Master for Old Sa or ARAG
Valves)
F 78-05072 BoomPilot section driver module (SDM)
G 020-045 Installation manual, Berthoud DP Tronic
H 98-05243 Matrix Pro BoomPilot setup guide

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BoomPilot®
Figure 1: System diagram
POWER IN
CAN
RS-232
Power/DATA
45-05626
45-05845 3.3 m
Power/CAN/data cable
(included with FieldPilot
and BoomPilot kits)
10A fuseto RS-232
CAN
Tilt gyro
module (TGM)
TGM harness
Power
45-05625
45-05625 Power cable, COBO
(included with Matrix Pro kits)
NOT NEEDED WITH BOOMPILOT
B
B
A
A
A B
SectionPower
BA
BoomPilot cable
Maximum 15 sections + master
990-888: new Safi or Pneumatic valves
990-889: old Safi or ARAG valves
45-05648
Power cable with
3 position COBO connector
78-05072
BoomPilot Section Driver Module (SDM)
(15 sections)
198-413 BoomPilot harness
(CANBUS & power)
902-356
Relay box
(Only kit no. 990-899 for ‘OLD SAFI’ & ‘ARAG’ valves)
902-422
Berthoud ABSC Interface
Berthoud DP Tronic controller
Matrix Pro 570 Matrix Pro 840
Existing system
Not needed
BoomPilot
Optional accessory

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020-045 R2 EN
BoomPilot®
PRINCIPLE OF OPERATION
The BoomPilot system controls the sections valves according to the GPS position. The GPS makes it possible to avoid overlaps or skips.
The Section Driver Module (SDM) is designed for switching active high when spraying. This means that a 12V signal is issued to control the
corresponding section valve.
The SDM is connected in parallel with the controller section switches.
The BoomPilot controls the section valves in automatic mode, and the controller section switches should be set to off unless the operator
wants to override the auto mode and thus force spraying.
The BoomPilot monitors the controller section switches that controls the valves in manual mode. The the Master switch can be used both in
automatic mode as well as in manual mode.
Figure 2: Principle of operation
SDM
Controller Section Switch
Valve
INSTALLATION
If there are questions concerning the installation of the BoomPilot system on this vehicle, or due to the changes in component
specications the parts supplied in the kit are not exactly as presented in this document, please contact your dealer or TeeJet
Customer service representative for clarication before installation. TeeJet Technologies is not responsible for misuse or incorrect
installation of the system.
NOTE: All references to left and right are stated as if the user is seated in the driver’s seat.
NOTE: BE VERY CAREFUL TO ABSOLUTELY SECURE ALL CABLES AND HOSES SO THAT THEY DON’T INTERFERE WITH THE MANY
MOVING PARTS OF THE MACHINE!
1. LOCATE THE CONNECTION POINT FOR THE SDM HARNESS
Locate the existing system’s ow control harness on the right side of the cab under the control panel inside the black cowling as it routes up to
the back of the Berthoud DP Tronic console.
2. MOUNT & CONNECT SDM
1. Mount SDM (E) as shown where LED’s can be seen for troubleshooting.
2. Connect SDM (E) to BoomPilot Harness (C).
Figure 3: Connect SDM
B
B
A
A
A B
Section Power
BA
C
E

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BoomPilot®
Figure 4: LED description
Section power
On – boom section power is on
Off – boom section power is off
In/out error
Off – boom output is high or on
Blinking – boom output is low or off
Auto mode
On – auto mode is active
Off – manual mode is active
CAN data
Blinking – receiving console CAN messages
Off – CAN messages stop for > 3 seconds
CAN power
On – CAN power is on
Off – CAN power is off
3. INSTALLING THE INTERFACE
The interface is a small PCB and a cable, to be mounted in the
controller box.
1. Disconnect power supply
2. Open the controller box.
3. Make a hole in the left part of the housing and install the
round connector. Hole should be Ø 25 and xing holes
Ø 3.2

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020-045 R2 EN
BoomPilot®
4. Install the interface in the box by xing it at a corner of the main
board as shown on the picture.
Note: Be sure that no contact is possible between the two boards
5. Connection of the wires depend on the sprayer type (See the
wiring diagrams starting page 8)
6. Connect the cable from the external connector to the board, if
not yet done, in the middle row.
7. Connect the interface to the CPU board with the at cable.
8. Disconnect the wires from the “Carte Pulvé” board and connect them to the interface.
9. Connect the wires from the interface to the “Carte Pulvé” board.
The above picture shows the ABSC interface built into a Trailed Sprayer without joystick (CASE-1, page 9).
Factory installed ABSC Berthoud interface, diagrams and modications.
Even if the Berthoud ABSC interface is already installed, please follow carefully the modications and diagrams.
WARNING: If the below modifications are not realized, there is a big risk that the ABSC interface will burn at the first run
Diagram Description:
4. DISCONNECT & RECONNECT HARNESSES & CABLES
The BoomPilot SDM harness (C) tees into the existing system’s connection between the Berthoud DP Tronic rate controller and ow control
harness.
1. Disconnect existing connection at the back of the Berthoud DP Tronic console.
2. Connect BoomPilot harness (C) to Berthoud DP Tronic console.
3. Connect BoomPilot harness (C) to existing Berthoud DP Tronic ow control harness.

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BoomPilot®
Figure 5: Disconnect existing connection
Disconnect
existing harness
from console
Figure 6: BoomPilot harness to flow control harness BoomPilot harness to controller
Connect C Controller
5. CONNECT POWER/CAN/DATA CABLE TO BOOMPILOT HARNESS
Connect Power/CAN/data cable (B) to BoomPilot harness (C).
Figure 7: Connect power/CAN/data cable to BoomPilot harness
POWER IN
CAN
RS-232
Power/DATA
45-05626
Power/CAN/Data Cable
BoomPilot harness
(CANBUS & Power)
B
B
A
A
A B
B
C
Position Description
1 DP Tronic board, ‘CARTE DP TRONIC
2 Sprayer board, ‘CARTE PULVE’
3 Flex cable, from ABSC interface to DP Tronic board
4Berthoud ABSC interface
5 Cable from ABSC interface to the ‘Carte Pulve’ board (Part of PN 902-422)
Connect C
Flow control harness

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020-045 R2 EN
BoomPilot®
Position Description
6 Cable from ABSC interface to the SCM module, 19P connector (Part of PN 902-422)
7 Existing cable from switch’s or joystick
Carte pulve
Carte
DP Tronic
CASE-1: Trailed Sprayer
without Joystick
In this case the modication has to be done on the
“Carte Pulvé” board by moving the Gray/Pink wire
from O to position N as shown in A.

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BoomPilot®
Carte pulve
Carte
DP Tronic
CASE-2: BOXER DPT
with Joystick
In this case, the relay wiring should be modied to match the cabling shown in A. That means that the RED and the BROWN wires should be
reverted, so that the RED is connected to position 87 of the relay and the BROWN connected to position 30 of the relay.
The GRAY/PINK wire should be removed from the relay and be connected to the “Carte Pulvé” on position N.

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020-045 R2 EN
BoomPilot®
Carte pulve
Carte
DP Tronic
CASE-3: BOXER GST
with Joystick
In this case, the relay wiring should be modied to match the cabling shown in A. That means that the RED and the BROWN wires should be
reverted, so that the RED is connected to position 87 of the relay and the BROWN connected to position 30 of the relay.
The GRAY/PINK wire should be removed from the relay and be connected to the “Carte Pulvé” on position N.

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BoomPilot®
Carte pulve
Carte
DP Tronic
CASE-4: Trailed Sprayer
with Joystick
In this case, the relay wiring should be modied to match the cabling shown in A. The GRAY/PINK wire should be
removed from the second relay (RL2, position 30 with GRAY wire) and be moved to the rst relay (RL1, position 30
with WHITE wire).

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020-045 R2 EN
BoomPilot®
+-
1
1
2
2
1008-0189
15/30
82
31
Position Description
1 +12V (15/30) Warning: When connecting the system to 12V power it’s very important that the polarity is correct, if not the
system will be damaged.
2 Ground (31)
Battery Cable (Option)
The power supply must be strong enough to operate the Section and Master valves. The total current will depend on the used valve type.
If a power connector (Socket) isn’t available in the tractor cabin, a optional battery cable can be used (PN 96ET14).
Valves connection
Berthoud sprayers with New Sa or pneumatic valves - No particular connection has to be done. Original cabling is ok.
Berthoud sprayers with Old Sa or Arag valves -Relay box installation
Take out the blue cover above the boom Fix the relay box to the frame

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BoomPilot®
Driving wires connection to relay box
Connect loose wires to the connection bloc. Below a informative table but verify that the respective connections are giving out 12 V when
section is ON.
Name S1 S2 S3 S4 S5 S6 S7 S8 GND 12V
Pin 8 11 14 17 20 23 27 30 6 37
Valves connections to relay box
Disconnect the valves from the connection bloc and connect them into the relay box.
Wire Color Connection Function
SAFI
Brown NH 12 V for closing
White NL 12 V for opening
Blue GND Permanent Ground
ARAG Brown NH 12 V for closing
Blue NL 12 V for opening

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020-045 R2 EN
BoomPilot®
6. RECOMMENDED ELECTRONICS INSTALLATION
The control console can be mounted to the operator’s preference. The GPS antenna should be mounted in the center on top of the cab on a
metal surface of at least 10 cm square.
Figure 8: Recommended electronics installation
Console
GPS
7. COMPLETE ELECTRONIC INSTALLATION
Refer to the Matrix Pro BoomPilot Setup Guide for further instructions on setting up and using your Matrix Pro for ABSC.
If not using a Matrix Pro, please refer to the owner’s manual supplied with the guidance system to complete the electronic installation and
setup.
SYSTEM CHECK
After connecting the power connector, it is time to make a system check. To check the system, it is necessary to have full GPS signal. To
obtain full GPS signal, the vehicle must be placed outside.
Check AUTOMATIC mode:
Berthoud DP Tronic:
Section switches should be in the OFF position when working in Automatic mode. The Master switch will control the sprayer and should be
ON to enable automatic switching of the sections.
Figure 9: Automatic to all booms on mode
2.0 km/h 0.76 ha
Mark A
A
A
Matrix Pro:
• Turn on the Matrix Pro console
• Encode the number of sections and the width of each
(Refer to the Matrix Pro user manual)
• Wait for GPS signal
• Set the BoomPilot mode to AUTOMATIC
◄Status Bar Icon will change to green
• Drive forward (> 2 km/h)
• Observe that all valves open
• Check that the valves close when the Master switch is set to OFF
Check MANUAL mode:
Berthoud DP Tronic:
• Set the section switches to ON
• Set the Master switch to ON
Matrix Pro:
• Set the BoomPilot mode to MANUAL
◄Status Bar Icon will change to red
• Check in the ‘Vehicle View Screen’ (Matrix Pro) that the section icons turn off and on according to the valve/switch status
• Observe that all valves are open

BoomPilot®
User manUal
TeeJet Aabybro
Mølhavevej 2
DK 9440 Aabybro
Danmark
www.teejet.com
A series of equipment-specic installation kits have been developed to work
in conjunction with your automated boom section control system. This kit
contains the necessary components and instructions to install ABSC on a
Berthoud DP Tronic w/Matrix® Pro. Please review this manual thoroughly
before beginning the installation process.
020-045-UK R2 EN English
© TeeJet Technologies 2013